Work

Robust Attitude Stabilization of Rigid Bodies Based on Control Lyapunov Function: Experimental Verification on a Quadrotor Testbed

Year: 2025

Type: article

Abstract: The robust stabilization of the attitude of quadrotors with respect to disturbance torques is a fundamental and crucial control problem in many unmanned aerial vehicle (UAV) applications. For this problem, a control Lyapunov function (CLF)-based robust adaptive control was previously proposed by the authors, and its effectiveness was confirmed through numerical simulations. In this article, we tackle the experimental verification of this controller. We first construct a quadrotor testbed equipped with the self-developed flight controller. Then, we implement the proposed robust adaptive controller and perform flight experiments. According to the results of comparative experiments using a PID-type controller and a non-robust controller, we demonstrate the effectiveness of the proposed controller.

Source: Actuators

DOI: 10.3390/act14100509

Authors: Yasuyuki Satoh, Kota Ohno

Institutions: Tokyo Denki University, Tokyo University of Science

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funder: Japan Society for the Promotion of Science